Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articu @ICRA-cg8kk

Uploaded May 2018 | Updated September 2026, 2 weeks ago

ICRA 2018 Spotlight Video
Interactive Session Thu AM Pod N.2
Authors: Roozing, Wesley; Ren, Zeyu; Tsagarakis, Nikos
Title: Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Abstract:
This work presents the development of a 3-DoF leg with series and parallel compliant actuation. Series-elastic main actuators are combined with parallel high efficiency energy storage branches, to substantially improve energy efficiency. The leg design is semi-anthropomorphic, with similar mass and mass distribution to the human limb, and includes a biarticulated actuation configuration. The parallel branches are driven by secondary motors and their design parameters are optimised. The mechanical design of the prototype leg is presented, introducing details of the actuation configuration principles employed. Preliminary experimental data are presented, in which a baseline series-elastic-only configuration is compared with configurations with mono- and biarticulated parallel branches, respectively. The results effectively demonstrate the concept's potential, showing improvements of 53% and 60% in electrical power consumption while the leg is executing loaded cyclic motion profiles.

Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articu

Adapting Parameterized Motions Using Iterative Learning and Online Collision Detection

Magnified Force Sensory Substitution for Telemanipulation Via Force-Controlled Skin Deformation

Robot Button Pressing in Human Environments

$Decentralized Adaptive Control for Collaborative Manipulation ICRA 2018 Spotlight Video Interactive Session Tue AM Pod F.1 Authors: Culbertson, Preston; Schwager, Mac Title: Decentralized Adaptive Control for Collaborative Manipulation Abstract: This paper presents a design for a decentralized adaptive controller that allows a team of agents to manipulate a common payload in {R}^2$ or {R}^3$. The controller requires no communication between agents and requires no textit{a priori} knowledge of agent positions or payload properties. The agents can control the payload to track a reference trajectory in linear and angular velocity with center-of-mass measurements, in angular velocity using only local measurements and a common frame, and can stabilize its rotation with only local measurements. The controller is designed via a Lyapunov-style analysis and has proven stability and convergence. The controller is validated in simulation and experimentally with four robots manipulating an object in the plane.$

Path Tracking of a Two-Wheel Steering Mobile Robot: An Accurate and Robust Multi-Model Off-Road Stee

Effects of Latency and Refresh Rate on Force Perception Via Sensory Substitution by Force-Controlled

Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging

SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from

Multi-Stage Suture Detection for Robot Assisted Anastomosis Based on Deep Learning

Bayesian Optimization Using Domain Knowledge on the ATRIAS Biped

Incorporating Potential Contingency Tasks in Multi-Robot Mission Planning